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#include <TestHelpers.hpp>
#include <dart/dart.hpp>
#include <dart/utils/urdf/DartLoader.hpp>
#include <gtest/gtest.h>

//==============================================================================
TEST(Issue986, CreateShapeNodeShouldCompile)
{
  const auto skel = dart::dynamics::Skeleton::create();
  auto* bn = skel->createJointAndBodyNodePair<FreeJoint>().second;
  const auto sphere = std::make_shared<dart::dynamics::SphereShape>(1.0);

  bn->createShapeNode(sphere);
  bn->createShapeNode(sphere, "custom name");

  const dart::dynamics::ShapePtr generic
      = std::make_shared<dart::dynamics::SphereShape>(1.0);

  bn->createShapeNode(generic);
  bn->createShapeNode(generic, "another name");

  bn->createShapeNode(sphere, std::string("passing a string"));
  bn->createShapeNode(generic, std::string("passing another string"));

  auto world = dart::simulation::World::create();
  world->addSkeleton(skel);
}
